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 2018-2022 Microchip Technology Inc. and its subsidiaries DS70005340C-page 1

This section of the manual contains the following major topics:

1.0 Introduction ....................................................................................................................... 2

2.0 CAN FD Message Frames................................................................................................ 5

3.0 Control Registers .............................................................................................................. 9

4.0 Modes of Operation ........................................................................................................ 53

5.0 Configuration................................................................................................................... 59

6.0 Message Transmission ................................................................................................... 72

7.0 Transmit Event FIFO – TEF ............................................................................................ 81

8.0 Message Filtering............................................................................................................ 86

9.0 Message Reception ........................................................................................................ 91

10.0 FIFO Behavior................................................................................................................. 97

11.0 Timestamping................................................................................................................ 108

12.0 Interrupts....................................................................................................................... 109

13.0 Error Handling............................................................................................................... 116

14.0 Related Application Notes............................................................................................. 118

15.0 Revision History ............................................................................................................ 119

CAN Flexible Data-Rate (FD) Protocol Module

dsPIC33/PIC24 Family Reference Manual

DS70005340C-page 2 2018-2022 Microchip Technology Inc.and its subsidiaries

1.0 INTRODUCTION

CAN Flexible Data-Rate (FD) addresses the increasing demand for bandwidth on CAN buses.

The two major enhancements over CAN 2.0B consist of:

• Increased data field of up to 64 data bytes (from a maximum eight data bytes for CAN 2.0B)

• Option to switch to faster bit rate after the arbitration field

Figure 1-1 shows the possible increase in net bit rate due to the higher Data Bit Rate (DBR) and

increased data bytes per frame.

Figure 1-1: Net CAN FD Bit Rate

The CAN FD protocol is defined to allow CAN 2.0 messages and CAN FD messages to coexist

on the same bus. This does not imply that non-CAN FD controllers can be mixed with CAN FD

controllers on the same bus. Non-CAN FD controllers will generate error frames while receiving

a CAN FD message.

1.1 Features

The CAN FD module has the following features:

General

• Nominal (Arbitration) Bit Rate up to 1 Mbps

• Data Bit Rate up to 8 Mbps

• CAN FD Controller modes:

- Mixed CAN 2.0B and CAN FD mode

- CAN 2.0B mode

• Conforms to ISO11898-1:2015

Message FIFOs

• 31 FIFOs Configurable as Transmit or Receive FIFOs

• One Transmit Queue (TXQ)

• Transmit Event FIFO (TEF) with 32-Bit Timestamp

Message Transmission

• Message Transmission Prioritization:

- Based on priority bit field and/or

- Message with lowest ID gets transmitted first using the TXQ

• Programmable Automatic Retransmission Attempts: Unlimited, Three Attempts or Disabled

Frame ID: 11-Bit, Bit Rate Arbitration: 1 Mbit

 2018-2022 Microchip Technology Inc. and its subsidiaries DS70005340C-page 3

CAN FD Protocol Module

Message Reception

• 32 Flexible Filter and Mask Objects

• Each Object can be Configured to Filter either:

- Standard ID and first 18 data bits or

- Extended ID

• 32-Bit Timestamp

• The CAN FD Bit Stream Processor (BSP) implements the Medium Access Control (MAC)

of the CAN FD protocol described in ISO11898-1:2015. It serializes and deserializes the bit

stream, encodes and decodes the CAN FD frames, manages the medium access,

Acknowledges frames, and detects and signals errors.

• The TX handler prioritizes the messages that are requested for transmission by the

transmit FIFOs. It uses the RAM interface to fetch the transmit data from RAM and provides

it to the BSP for transmission.

• The BSP provides received messages to the RX handler. The RX handler uses an

acceptance filter to filter the messages that shall be stored in the receive FIFOs. It uses the

RAM interface to store received data into RAM.

• Each FIFO can be configured either as a transmit or receive FIFO. The FIFO control keeps

track of the FIFO head and tail, and calculates the user address. In a TX FIFO, the user

address points to the address in RAM where the data for the next transmit message is

stored. In an RX FIFO, the user address points to the address in RAM where the data of the

next receive message will be read. The user notifies the FIFO that a message is written to

or read from RAM by incrementing the head/tail of the FIFO.

• The TXQ is a special transmit FIFO that transmits the messages based on the ID of the

messages stored in the queue.

• The TEF stores the message IDs of the transmitted messages.

• A free-running Time Base Counter (TBC) is used to timestamp received messages.

Messages in the TEF can also be timestamped.

• The CAN FD controller module generates interrupts when new messages are received or

when messages are transmitted successfully.

Product specificaties

Merk:	Microchip
Categorie:	Niet gecategoriseerd
Model:	dsPIC33/PIC24FRM

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